In this scenario, the network architecture (shown in Figure 1) is designed to consider these unordered point sets into the model directly. Further, we only require the cartesian coordinates of 3D points [1]}. Hence, we ignore the excess feature channels by mapping the unordered point set \({\lbrace x_i\rbrace }\)  \({\in }\)  \({R_d}\)  to a vector \(f_i\)  by equation REF .
\(f_i = g(\lbrace h(\lbrace x_i\rbrace ).\) 
